Type: Conference paper

Adaptive second order sliding mode for robust motion control of underwater vehicles

Journal: 2025 29th International Computer Conference, Computer Society of Iran, CSICC 2025 ()Year: 2016Volume: Issue: Pages: 90 - 95

Koofigar H.^aMalekzadeh M.^aAbolvafaie M.Abolvafaie M.Koofigar H.^aMalekzadeh M.^a

a :University of Isfahan - IRAN(IR) - Isfahan

DOI:10.1109/ICSTCC.2016.7790646Language: English

Abstract

To improve the tracking control performance, in the presence of parametric uncertainties, for an autonomous underwater vehicle (AUV), the sensitive parameters are first identified, using the direct sensitivity analysis method. Then, an adaptive second order sliding mode controller is proposed to ensure the robust stability and performance, without any a priori knowledge on the upper bound of perturbations. To this end, a proportional integral derivative (PID) structure is adopted, as the sliding surface. The unknown sensitive parameters are estimated by some adaptive mechanisms. On the other hand, the second order sliding mode control (2-SMC) is developed to neutralize the effects of unstructured uncertainties and disturbances. The closed loop stability is shown, using the Lyapunov stability theorem, and verified by various numerical simulations. © 2016 IEEE.

Author Keywords

adaptive controlautonomous underwater vehiclehigh order sliding modesensitivity analysis

Other Keywords

Computation theoryImage segmentationProportional control systemsSensitivity analysisSliding mode controlSystem theoryTwo term control systemsUncertainty analysisVehiclesAdaptive ControlAutonomous underwater vehicles (AUV)High order sliding modeLyapunov stability theoremProportional integral derivativesRobust stability and performanceSecond order sliding modesSecond-order sliding-mode controlAutonomous underwater vehicles